Automated substrate loading

ABSTRACT

This disclosure is directed to system for transferring a substrate, such as a microscope slide, and holding the substrate within at least one device. The system includes a holder for holding the substrate and a gripper for transferring the substrate, such as between a cassette or stack and the holder. A method is also discussed herein.

CROSS-REFERENCE TO A RELATED APPLICATION

This application claims the benefit of Provisional Application No.62/451,272, filed Jan. 27, 2017, the benefit of Provisional ApplicationNo. 62/485,500, filed Apr. 14, 2017, and is a continuation-in-part ofapplication Ser. No. 14/718,381, filed May 21, 2015, which claims thebenefit of Provisional Application No. 62/004,417, filed May 29, 2014.

TECHNICAL FIELD

This disclosure relates generally to automated loading of a substrateand, in particular, to a system and method for loading the substrate.

BACKGROUND

Analysis of a biological sample includes the step of imaging thebiological sample on a substrate, such as a microscope slide. To image,the substrate may be placed on a stage and the stage may be movedrelative to an objective. Alternatively, the objective may be movedrelative to the stage. However, when the substrate is not consistentlysecured in a repeatable, predictable manner regardless of substrateinconsistencies or deformities, the images which may vary from substrateto substrate and may be difficult to determine proper surface locations.

As a result, practitioners, researchers, and those imaging samples onsubstrates continue to seek an apparatus for consistently, repeatably,and predictably securing substrates of varying inconsistencies ordeformities. The apparatus, by not deforming the surface or impartingmoments on the substrate due to the kinematic nature, may accommodate awide variety of substrates based on size, shape, and configuration.

DESCRIPTION OF THE DRAWINGS

FIGS. 1A-1C show an example holder.

FIGS. 2A-2B show an example secure bar.

FIG. 3 shows an example securing block.

FIGS. 4A-4B show an example holder.

FIGS. 5A-5C show an example gripper.

FIGS. 6A-6B show an example securing block.

FIGS. 7A-7E show an example cassette holder.

FIGS. 8A-8D show an example controller system of the example cassetteholder.

FIGS. 9A-9C show example substrate orientation within the cassette.

FIG. 10 shows an example system.

DETAILED DESCRIPTION

This disclosure is directed to system for transferring a substrate, suchas a microscope slide, and holding the substrate within at least onedevice. The system includes a holder for holding the substrate and agripper for transferring the substrate, such as between a cassette orstack and the holder. A method is also discussed herein.

A system and system components for automated loading of a substrate arediscussed. For the sake of convenience, the system and system componentsare described with reference to a slide as an example substrate and ascanner as an example secondary device. The slide, for example, mayinclude two long sides opposite one another and two short sides oppositeone another and adjacent to each of the long sides. For the sake ofconvenience, a holder and a gripper, as discussed herein, hold and gripthe long sides of the slide as related to securing blocks and securingbrackets. The holder and gripper may hold or grip different sized and/orshaped substrates differently (e.g. locations or sides) based on variouscharacteristics of the various substrates, when it is desirous,appropriate, and/or necessary to do so. Furthermore, and for the sake ofconvenience, any light and/or signal transmission, as discussed herein,may occur from long side to another long side. The light and/or signaltransmission across different sized and/or shaped substrates may beimplemented differently (e.g. locations or sides) based on variouscharacteristics of the various substrates, when it is desirous,appropriate, and/or necessary to do so.

The system and system components described below, however, are notintended to be so limited in their scope of application. The system andsystem components may be used with any other kind of substrateincluding, but not limited to, a well plate, and any other appropriatesecondary device including, but not limited to, a fluorescentmicroscope, a picking device, a scanner with a picking device, afluorescent microscope with a picking device, or any imaging orprocessing machine.

Holder

FIGS. 1A-1C shows isometric views of a holder 100 to securely hold asubstrate, such as a microscope slide or a well plate. For the sake ofconvenience, the holder 100 is described with reference to a U-shapeframe as an example frame. But the frame described below is not intendedto be so limited in its scope of application. The frame, in practice,may be a four-walled frame (i.e. a main body with a cavity extendingthrough the main body), J-shaped, or the like.

The holder 100 includes a frame 126 including a base 102, a first arm104, and a second arm 106. The first arm 104 includes a proximal endconnected to a first end of the base 102 and a distal end extending fromthe base 102. The second arm 106 includes a proximal end connected to asecond end of the base 102 and a distal end extending from the base 102.The base 102 includes a base platform 116 extending in the samedirection as the first and second arms 104 and 106 to support a portionof the substrate. The first arm 104 may include a first platform 118 atthe distal end and extending toward the second arm 106 to support aportion of the substrate. The second arm 106 may include a secondplatform 120 at the distal end and extending toward the first arm 104 tosupport a portion of the substrate. The first and second platforms 118and 120 may be adjoined, thereby forming a single platform andconnecting the first and second arms 104 and 106 at the distal ends ofthe first and second arms 118 and 120. The base platform 116, the firstplatform 118, and the second platform 120 may be located on the sameplane. Alternatively, the first and second platforms 118 and 120 may belocated at any point between the distal and proximal ends of the firstand second arms 104 and 106, respectively.

The first arm 104 also includes first and second securing blocks 108 and110 to provide first and second points of contact, respectively, for thesubstrate during imaging, processing, holding, or the like. The firstand second securing blocks 108 and 110 guide the substrate off of theplatforms and constrain the substrate at the first and second contactpoints, respectively. Snapshot 128 shows a magnified view of the firstsecuring block 108. The first and second securing blocks 108 and 110 maybe attached to the first arm 104 by at least one fastener 124 (i.e. ascrew, a nail, a peg, a pin, a nut and bolt, a dowel, a staple, a rivet,or the like), by an adhesive, by welding, or the like. Alternatively,the first and second securing blocks 108 and 110 and the first arm 104may be formed as a single piece, such as by molding, machining, or thelike.

The holder 100 also includes a secure bar 112 attached to the second arm106 by a bearing 132 and a fastener 134. A third securing block 114, toprovide a third point of contact for the substrate during imaging,processing, holding, or the like, may be attached to or may be formed asa part of the secure bar 112. The third securing block 114 guides thesubstrate off of the platforms and constrains the substrate at a thirdpoint. Furthermore, the three contact points imparted by the securingblocks 108, 110, and 114 provide for a kinematic mount—constraining asubstrate in the x-, y-, and z-axes. The bearing 132 allows the securebar 112 to move relative to the second arm 106 into open and closedpositions. When in the open position, the secure bar 112 permits thesubstrate to freely slide into and out the holder 100; and when in theclosed position, the third securing block 114 on the secure bar 112 andthe first and second securing blocks 108 and 110 exert forces on thesubstrate to secure the substrate within the holder 100. A spring 130may also be included and may extend from the secure bar 112 to thesecond arm 106 to pre-load the secure bar 112.

The holder 100 may also include cutouts 122 on an inner corner where theproximal ends of the first and second arms 104 and 106 meet the base102. There may also be cutouts 122 at the distal ends of the first andsecond arms 104 and 106. The cutouts 122 permit for any appropriatelysized substrate to be used since the corners of the substrate may fitwithin the cutouts 122 instead of breaking off or chipping when beingplaced into the holder 100. The holder 100 may be composed of ceramic,glass, plastic, metal, or combinations thereof.

The holder 100 may be attached to a secondary device for imaging and/orprocessing (i.e. a scanner, a fluorescent microscope, a picking device,a scanner with a picking device, a fluorescent microscope with a pickingdevice, or any appropriate imaging or processing machine) by anattachment mechanism (i.e. a screw, a nail, a peg, a pin, a nut andbolt, a dowel, a staple, a rivet, or the like), by an adhesive, bywelding, by clips, by detents, by tongue and groove joint, or the like.The holder 100 may include at least one hole to accommodate theattachment mechanism for proper, secure attachment to the secondarydevice.

FIGS. 2A-2B show isometric views of the secure bar 112 with the thirdsecuring block 114 attached to the secure bar 112. The secure bar 112includes a main body 202 having a first end 204 and a second end 206.The second end 206 may include at least one bore 210 extending at leastpartially through the second end 206 to accept the at least one fastener124 to attach the third securing block 114 to the secure bar 112. Thefirst end 204 includes a handle or grip to permit a force to be exertedon the main body 202 so as to move the secure bar 112 into the open andclosed positions when it is desirous to do so. The secure bar 112 alsoincludes the bearing 132 to move the main body 202 relative to thesecond arm (not shown) when exerting a force on the first end 204.Alternatively, the bearing 132 may be inserted into a cavity (not shown)in the second arm and the secure bar 112 may then be joined with thebearing 132 to allow for movement. The secure bar 112 may be moved intothe open and closed positions when it is desirous to do so. The securebar 112 may also include a Belleville spring 208 to pre-load to abearing 128 and reduce movement of the bearing 128. The bearing 128 maybe a single bearing or more than one bearing connected to allow forrotational movement.

FIG. 3 shows an isometric view of the securing blocks 108, 110, and 114.The securing blocks 108, 110, and 114 provide a controlled referencessurface for the substrate during imaging, processing, holding, or thelike. The securing blocks 108, 110, and 114 include a main body 302 witha stopper 304 and a ramp 306, both of which extend from the same side ofthe main body 302. When the secure bar (not shown) is moved into aclosed position, the ramp 306 guides the substrate up and off of theplatforms (not shown) and the stopper 304 sets a maximum lift distanceand constrains the substrate. When the secure bar (not shown) is movedinto an open position, the ramp 306 guides the substrate down andtowards the platforms (not shown). The main body 302 may include atleast one hole (not shown) to accept the at least one fastener 124 toattach to the holder (not shown). The main body 302 may be a singlepiece or may be two pieces. When the main body 302 is two pieces, afirst piece includes the stopper 304 and a second piece includes theramp 306. The securing blocks 108, 110, and 114 may also include atleast one height adjuster 308, such as a shim, to adjust the heights ofthe securing blocks 108, 110, and 114 relative to the frame (not shown)of the holder (not shown).

The ramp 306 may be any appropriate shape, including, but not limitedto, triangular, hemispherical, parabolic, trapezoidal, or the like.

FIGS. 4A and 4B show an isometric view of a holder 400. The holder 400is similar to the holder 100 except that the holder includes a bar motor422 for automation.

The holder 400 includes a base 402, a first arm 404, and a secure bar406. The first arm 404 includes a proximal end connected to a first endof the base 402 and a distal end extending from the base 402. The securebar 406 includes a proximal end connected to a second end of the base402 and a distal end extending from the base 402. The base 402 includesa base platform 408 extending in the same direction as the first arm 404and the secure bar 406 to support a portion of the substrate. The firstarm 404 may include a first platform 410 at the distal end and extendingtoward the secure bar 406 to support a portion of the substrate.

The first arm 404 also includes first and second securing blocks 412 and414 to provide first and second points of contact, respectively, for thesubstrate during imaging, processing, holding, or the like. The firstand second securing blocks 412 and 414 guide the substrate off of theplatforms and constrain the substrate at the first and second contactpoints, respectively. The first and second securing blocks 412 and 414may be attached to the first arm 404 by at least one fastener (notshown, such as a screw, a nail, a peg, a pin, a nut and bolt, a dowel, astaple, a rivet, or the like), by an adhesive, by welding, or the like.Alternatively, the first and second securing blocks 412 and 414 and thefirst arm 404 may be formed as a single piece, such as by molding,machining, or the like.

The secure bar 406 may be attached to the base 402 by a bearing 416 anda fastener 418. A third securing block 420, to provide a third point ofcontact for the substrate during imaging, processing, holding, or thelike, may be attached to or may be formed as a part of the secure bar406. The third securing block 420 guides the substrate off of theplatforms and constrains the substrate at a third point. Furthermore,the three contact points imparted by the securing blocks 412, 414, and420 provide for a kinematic mount. The bearing 416 allows the secure bar406 to move relative to the secure bar 406 into open and closedpositions. When in the open position, the secure bar 406 permits thesubstrate to freely slide into and out the holder 400; and when in theclosed position, the third securing block 420 on the secure bar 406 andthe first and second securing blocks 412 and 414 exert forces on thesubstrate to secure the substrate within the holder 400.

The holder 400 may also include cutouts 420 on an inner corner where theproximal ends of the first and secure bars 404 and 406 meet the base402. There may also be cutouts 424 at the distal ends of the first andsecure bars 404 and 406. The cutouts 424 permit for any appropriatelysized substrate to be used since the corners of the substrate may fitwithin the cutouts 424 instead of breaking off or chipping when beingplaced into the holder 400. The holder 400 may be composed of ceramic,glass, plastic, metal, or combinations thereof.

The bar motor 422 may be connected to the secure bar 406 directly (i.e.the bar motor 422 touches the secure bar 406 such that driving the barmotor 422 causes the secure bar 406 to open and close) or indirectly(i.e. the bar motor 422 is adjoined to the secure bar 406 by at leastone intermediary piece such that driving the bar motor 422 causes theintermediary piece to translate or rotate and, accordingly, cause thesecure bar 406 to open and close).

The holder 400 may be attached to a secondary device for imaging and/orprocessing by an attachment mechanism 426 (i.e. a plate, a screw, anail, a peg, a pin, a nut and bolt, a dowel, a staple, a rivet, or thelike). The holder 400 may include at least one hole to accommodate theattachment mechanism 426 for proper, secure attachment to the secondarydevice. Alternatively, the holder 400 may be attached to a secondarydevice for imaging and/or processing by an adhesive, by welding, byclips, by detents, by tongue and groove joint, or the like.

The securing blocks 108, 110, 114, 412, 414, 420 may be composed of amaterial, such as tungsten carbide, which is not abraded by thesubstrate or by contact with the substrate. Preventing abrasionmaintains a consistent surface on the securing blocks 108, 110, 114,412, 414, 420, thereby permitting for consistent mounting of thesubstrate within the securing blocks 108, 110, 114, 412, 414, 420. Thesecuring blocks 108, 110, 114, 412, 414, 420 may also be domed tominimize or reduce friction.

Gripper

FIGS. 5A-5C show isometric views of a gripper 500 to securely hold asubstrate, such as a microscope slide or a well plate. For the sake ofconvenience, the gripper 500 is described with reference to a J-shapeframe as an example frame. But the frame described below is not intendedto be so limited in its scope of application. The frame, in practice,may be a four-walled frame (i.e. a main body with a cavity extendingthrough the main body), U-shaped, or the like.

The gripper 500 includes a frame including a base 502, a first arm 504,and a secure bar 506. The first arm 504 includes a proximal endconnected to a first end of the base 502 and a distal end extending fromthe base 502. The first arm 504 also includes first and second securingbrackets 508 and 510 to provide first and second points of contact,respectively, for the substrate during imaging, processing, holding, orthe like. The first and second securing brackets 508 and 510 may beattached to the first arm 504 by at least one fastener (not shown; i.e.a screw, a nail, a peg, a pin, a nut and bolt, a dowel, a staple, arivet, or the like), by an adhesive, by welding, or the like.Alternatively, the first and second securing brackets 508 and 510 andthe first arm 504 may be formed as a single piece, such as by molding,machining, or the like.

The secure bar 506 includes a proximal end connected to a second end ofthe base 502 and a distal end extending from the base 502. The securebar 506 may be attached to base 502 by a bearing 512 and a fastener 514.The bearing 512 allows the secure bar 506 to move relative to the base502 into open and closed positions. When in the open position, thesecure bar 512 permits the substrate to freely slide into and out thegripper 500; and when in the closed position, the third securing bracket514 on the secure bar 512 and the first and second securing brackets 508and 510 exert forces on the substrate to secure the substrate within thegripper 500. A third securing bracket 516, to provide a third point ofcontact for the substrate during imaging, processing, holding,transferring, or the like, may be attached to or may be fowled as a partof the secure bar 512. The third securing bracket 516 may be attached tothe secure bar 506 by at least one fastener (not shown; i.e. a screw, anail, a peg, a pin, a nut and bolt, a dowel, a staple, a rivet, or thelike), by an adhesive, by welding, or the like, Alternatively, the thirdsecuring bracket 516 and the secure bar 506 may be formed as a singlepiece, such as by molding, machining, or the like.

The gripper 500 may include a crossbar 518 extending from the first arm504 to a side of the base 502 proximal to the secure bar 506. Thecrossbar 518 may be deflectable (e.g. a spring) such that force exertedon the crossbar 518 by the substrate within the gripper 500 causes thecrossbar 518 to deflect towards a sensor 520. The crossbar 518 maycontact the sensor 520 or may deflect up to a pre-determined distancetowards the sensor 520. The sensor 520 may be mechanical (e.g. switch),electrical (e.g. linear encoder), capacitive, optical (e.g. laser),acoustic, inductive (e.g. linear variable differential transformer), orthe like.

The gripper 500 may also include cutouts (not shown) on an inner cornerwhere the proximal ends of the first arm 504 and secure bar 506 meet thebase 502. The cutouts (not shown) permit for any appropriately sizedsubstrate to be used since the corners of the substrate may fit withinthe cutouts (not shown) instead of breaking off or chipping when beingplaced into the gripper 500. The gripper 500 may be composed of ceramic,glass, plastic, metal, or combinations thereof.

The gripper 500 may be attached to a secondary device (not shown) forimaging and/or processing by an attachment mechanism (i.e. a screw, anail, a peg, a pin, a nut and bolt, a dowel, a staple, a rivet, or thelike), by an adhesive, by welding, by clips, by detents, by tongue andgroove joint, or the like. The gripper 500 may include at least one holeto accommodate the attachment mechanism for proper, secure attachment tothe secondary device.

To open and close the secure bar 506, a first motor 522 may be connectedto the secure bar 506 directly (i.e. the first motor 522 contacts thesecure bar 506 such that driving the first motor 522 causes the securebar 506 to open and close) or indirectly (i.e. the first motor 522 isadjoined to the secure bar 506 by at least one intermediary piece suchthat driving the first motor 522 causes the intermediary piece totranslate or rotate and, accordingly, cause the secure bar 506 to openand close). To rotate the gripper 500 around a longitudinal axis suchthat the gripper rotates from a cassette to the holder 400, a secondmotor 524 may be connected to the gripper 506 directly (i.e. the secondmotor 524 touches the gripper 506 such that driving the second motor 524causes the gripper 506 to open and close) or indirectly (i.e. the secondmotor 522 is adjoined to the gripper 506 by at least one intermediarypiece 526 such that driving the second motor 522 causes the intermediarypiece to translate or rotate and, accordingly, cause the gripper 506 toopen and close).

FIGS. 6A shows an isometric view of the securing brackets 508, 510, 514.FIGS. 6B shows a side view of the securing brackets 508, 510, 514. Thesecuring brackets 508, 510, 514 provide a controlled references surfacefor the substrate during imaging, processing, holding, or the like. Thesecuring brackets 508, 510, 514 also include a notch 614 having an angleθ formed by the respective slants of the first and second slanted facets604, 606. The notch 614 holds and secures the substrate within thesecuring brackets 508, 510, 514. The angle θ may be acute, obtuse, or aright angle. The first and second facets 604, 606 may be any appropriateshape, including, but not limited to, triangular, hemispherical,parabolic, trapezoidal, or the like. The securing brackets 508, 510, 514include a main body 602 with a first facet 604 and a second facet 606,both of which extend from the same side of the main body 602. When thesecure bar (not shown) is moved into a closed position, the substrate(not shown) is held or gripped within the notch 614. The main body 602may include at least one hole 610 to accept the at least one fastener612, such as a screw or nut and bolt, to attach to the gripper (notshown). The main body 602 may be a single piece or may be two pieces.When the main body 602 is two pieces, a first piece includes the firstfacet 604 and a second piece includes the second facet 606. The securingbrackets 508, 510, 514 may also include at least one height adjuster(not shown), such as a shim, to adjust the heights of the securingbrackets 508, 510, and 514 relative to the first arm (not shown) and thesecure bar (not shown) of the gripper (not shown).

The securing blocks 508, 510, 514 may be composed of a material, such astungsten carbide, which is not abraded b the substrate or by contactwith the substrate. Preventing abrasion maintains a consistent surfaceon the securing blocks 508, 510, 514, thereby permitting for consistentmounting of the substrate within the securing blocks 508, 510, 514. Thesecuring blocks 508, 510, 514 may also be domed to minimize or reducefriction.

Cassette Holder

FIGS. 7A-7C show isometric views of a cassette holder 700. FIGS. 7D and7E show exploded views of the cassette holder 700. The cassette holder700 includes a base 702 connected to a bracket 704 by at least one strut706. The bracket 704 may include at least one arm 708 which may includean extension 710. The base 702 may also be adjoined to or overlaid on acontrol board 712 which is adjoined or connected to at least one lightsource board 714 including a plurality of light sources 716 and at leastone detector board 718 including a plurality of detectors 720. Thedetector board 718 may include at least one amplifier 722. The at leastone light source board 714 and the at least one detector board 718 forma pair, whereby the plurality of light sources 716 and the plurality ofdetectors 720 face each other such that corresponding light sources anddetectors at equivalents heights on or along their respective boards.Furthermore, the plurality of light sources 716 and detectors 720 fowl arow or a column. For example, a first light source corresponds to and isat an equivalent height as a first detector, a second light sourcecorresponds to and is at an equivalent height as a second detector, andso on.

Alternatively, the system 700 may include one light source 716, whichmay move along the light source board 714 or may move independently. Thesystem 700 may include a number of detectors for a respective lightsource as determined by the following equation:

Number of detectors=1+(2×(n slot offsets)),

where “n slot offsets” refers to the number of slots that one side ofthe substrate may be off within the given cassette 726. For example,when a substrate may be off by 2 slots in a given cassette (see FIG.9B), the number of detectors is 1+(2×(2))=5. The detectors may movealong the detector board 718 or may move independently, but inconjunction with the light source 716. Though the light source 716 anddetectors 720 are described as being movable relative to the cassette726 and the substrate, the cassette 726 and the substrate may moverelative to the light source 716 and the detectors 720.

The at least one light source board 714 extends from the control board712 to the bracket 704; and the at least one detector board 718 extendsfrom the control board 712 to the bracket 704. Alternatively, the atleast one light source board 714 and the at least one detector board 718may connect to the at least one arm 708 or the at least one extension710. The at least one light source board 714 and the at least onedetector board 718 are adjoined or connected to the bracket 704 with aclasp 724. Alternatively, the at least one light source board 714 andthe at least one detector board 718 are adjoined or connected to thebracket 704 with a screw, a pin, a clamp, or any appropriate fastener.

When multiple pairs of light boards 714 and detector boards 718 areimplemented, the light board 714 of one pair may be adjoined orconnected to the bracket 704 at the same or a substantially similarpoint as the detector board 718 of a different pair. When the lightboard 714 of one pair is adjoined or connected to the bracket 704 at asubstantially similar point as the detector board 718 of a differentpair, the light sources 716 and the detectors 718 of those boards faceaway from each other and towards their respective pair mates.

The light sources 716 may be any appropriate light source, including,but not limited to, a light emitting diode, a lamp, or a bulb. Thedetectors 720 may be any appropriate detector, including, but notlimited to a photodiode, a photo cell, a light dependent resistor, or aphototransistor.

The cassette holder 700 may also include a cassette 726. The cassette726, which sits on the base 702 between one light board source 714 andone detector board 718, includes a frame 728 including at least one slot730 configured to hold and support a substrate (not shown), such as amicroscope slide. The at least one slot 730 may be formed by grooves ornotches within the frame 728 or with platforms extending inwardly fromthe frame 728 to support the substrate. The cassette 726 may include upto 700 slots.

The cassette holder 700 may also include at least one cassette guide 732to limit the distance a substrate may be inserted into the cassette 726and to limit the movement or rotation of the cassette 726. The at leastone cassette guide 732 may include a groove along which the cassette 726may be introduced or mated. The at least one cassette guide 732 may belocated on either side of the cassette 726 or on both sides of thecassette 726, and may further be located in between consecutivecassettes 726 when more than one cassette 726 is present.

FIGS. 8A and 8B show isometric views of the control board 712 adjoinedor connected to at least one light source board 714 including pluralityof light sources 716 and at least one detector board 718 including theplurality of detectors 720. FIGS. 2C and 2D show exploded views of thecontrol board 712 adjoined or connected to at least one light sourceboard 714 including the plurality of light sources 716 and at least onedetector board 718 including plurality of detectors 720. The lightsource board 714 and the detector board 718 each include an electricalinterface 802. The control board 712 includes a communication interface804 and complementary electrical interfaces 806. The communicationinterface 804 of the control board 712 mates with a complementarycommunication interface (not shown) on a main board (not shown), wherebythe main board (not shown) controls a scanner and/or picking system (notshown). The electrical interface 802 of the light source board 714 andthe detector board 718 mates with the respective complementaryelectrical interface 806 on the control board 712 to permitcommunication between the main board (not shown) and the light sourceboard 714 and the detector board 718. Alternatively, though the mainboard (not shown) and the control board 712 are depicted as separateboards, the main board (not shown) and the control board 712 may be oneboard.

The control board 712 may also include sensors 808, ferrites 810, andESD protectors 812. The sensors 808 (e.g. mechanical (switch),electrical (linear encoder), capacitive, optical (laser, reflective),acoustic, inductive (linear variable differential transformer), or thelike) determine whether or not a cassette is loaded between a lightsource board-detector board pairing. The ferrites 810 allow forelectromagnetic compatibility, such as suppression of or compliance withnational and/or international regulations for radiated energy. The ESDprotectors 812 provide protections against static discharge.

System and Method

A method for automated loading of a substrate is also discussed. For thesake of convenience, the methods are described with reference to a slideas an example substrate and a scanner as an example secondary device.But the methods described below are not intended to be so limited intheir scope of application. The methods, in practice, may be used withany other kind of substrate including, but not limited to, a well plate,and any other appropriate secondary device including, but not limitedto, a fluorescent microscope, a picking device, a scanner with a pickingdevice, a fluorescent microscope with a picking device, or any imagingor processing machine.

FIG. 10 shows a system 1000. The system 1000 may be a sub-system of alarger system (not shown), such as any appropriate secondary deviceincluding, but not limited to, a fluorescent microscope, a pickingdevice, a scanner with a picking device, a fluorescent microscope with apicking device, or any imaging or processing machine. The system 1000includes the holder 400, the gripper 500, the cassette holder 700, andat least one cassette 726 including at least one substrate 1002.

First, the cassette 726 is loaded with the at least one substrate 1002.The cassette 726, upon being loaded with the desired number ofsubstrates 1002, is inserted into the cassette holder 700 between onepair of the light source board 714 and the detector board 718. After thecassette 726 is inserted into the cassette holder 700, the light sources716 may be activated individually, such that one light source 716 on agiven light source board 714 emit light at a given time. Alternatively,multiple light sources 716 on the light source board 714 may beactivated simultaneously so long as crosstalk between the activatedlight sources and non-corresponding detectors is eliminated or validatedand removed via subsequent processing.

When multiple light boards 714 are used, multiple light sources 716 maybe activated simultaneously on the same and/or different light sourceboards 714. In use, the light emitted by the light source 716 istransmitted via the substrate based on the internal reflection of the atleast one substrate 1002 to one of the detectors 720 based on theorientation of the substrate within the cassette holder 700. Thedetector 720 captures the transmitted light and generates a signal, suchas an electrical signal, that represents the presence and/or orientationof the at least one substrate 1002. The signal is digitized andprocessed by a controller, including, but not limited to a processor, amicroprocessor, or a microcontroller, along with any associatedsoftware, or the like. Due to the internal reflection of the at leastone substrate 1002, the detector 720 may receive up to 30 times(including up to 2 times, 3 times, 4 times, 10 times, or the like) morelight when the at least one substrate 1002 is present than when the atleast one substrate 1002 is absent. It should be noted, however, thatthe detector 720 receiving the light is the detector 720 thatcorresponds to the slot 730 at which one end of the at least onesubstrate 1002 is present.

For example, FIG. 9A shows a present and properly oriented substrate.When at least one substrate is present and properly oriented within theslot 730 of the cassette 726, the first light source is activated andthe emitted light is transmitted to the first detector. However, whenthe at least one substrate is improperly oriented (i.e. angled—one edgeis located on a first slot and another edge is located one slot above orbelow the first edge (FIG. 9B) or one edge is located on a first slotand another edge is located two slots above or below the first edge(FIG. 9C)), the non-corresponding detector 720 may capture the lightemitted by the activated light source 716. In FIG. 9B, when the firstlight source 716 is activated, and the at least one substrate is off byone slot, the second detector 720 may capture the emitted light. In FIG.9C, when the first light source 716 is activated, and the at least onesubstrate is off by two slots, the third detector 720 may capture theemitted light. In other words, when a light source is activated and acorresponding detector captures the emitted light (as determined by thesignal), the at least one substrate is present and inserted properly;when a light source is activated and a non-corresponding detectorcaptures the emitted light (as determined by the signal), the at leastone substrate is present but inserted improperly; and when a lightsource is activated and the signal does not exceed a pre-determinedthreshold (as determined by the signal), the at least one substrate isabsent. Since the light sources on the light source board are notactivated simultaneously, but rather activated sequentially, randomly,or in a pre-programmed manner, it may be possible to determine thepresence and orientation (straight or angled) by determining whichdetector receives a signal—detector corresponding to activated lightsource (substrate is present and proper), detector not corresponding toactivated light source (at least one substrate is present and improper),or no detector (no substrate present). Furthermore, when a substrate isnot inserted properly, the detector corresponding to the activated lightsource receives half of the signal intensity as when the slot is empty.In other words, the improperly inserted substrate may also block thetransmission of light.

It should be understood that the method and system described anddiscussed herein may be used with any appropriate substrate, such a wellplate, a slide, or the like. When the at least one substrate istransparent, the at least one substrate acts as a light guide, therebytransmitting the light from the light source to the detector. When theat least one substrate is opaque, a focusing lens on the light sourcemay be required; though an opaque substrate may only in determiningpresence or absence of the substrate, not orientation. It may also bepossible, such as a with a cassette that transmits light, to determinesubstrate presence and/or orientation/placement based on light signalsof corresponding and/or offset detectors due to light reflection off ofsubstrates above and below the substrate within the desired slot.Additionally, the loading of at least one substrate into the cassettemay be manual, automated, or a combination thereof. Furthermore, theloading of the cassette with at least one substrate and inserting thecassette into the cassette holder may be manual, automated, or acombination thereof.

After the presence and orientation of the at least one slide 1002 withinthe cassette 726 is determined, the gripper 500 is brought proximal tothe at least one substrate 1002, such that the secure bar 506 of thegripper 500 is on a first side of the at least one substrate 1002 andthe first arm 504 of the gripper 500 is on a second side of the at leastone substrate 1002. To bring the gripper 500 proximal to the at leastone substrate 1002, the gripper 500 may be moved along a horizontaltrack 1012 by a gripper horizontal motor 1010 and/or along a verticaltrack 1008 by a vertical motor 1006. The vertical motor 1006 drives thegripper along the vertical track 1008 to move the gripper 500 to anappropriate height for the desired slot of the cassette 726. The gripperhorizontal motor 1010 drives the gripper along the horizontal track 1012to move the gripper 500 proximal to the at least one substrate 1002.

The secure bar 506 of the gripper 500 is then driven to a closedposition by the first motor 522, thereby securing the at least onesubstrate 1002 with the gripper 500. The gripper horizontal motor 1010then pulls the gripper 500, now including the at least one substrate1002, away from the cassette 726. A tilt motor 1004 may also tilt thecassette base 702 on which the cassette 726 rests to provide moreclearance for the subsequent rotation of the gripper 500. The tilt motor1004 may also tilt the cassette base 702 when a door to the secondarydevice is opened, thereby allowing for insertion of the cassette 726onto the cassette base 702. The second motor 524 then causes the gripper500 to rotate along a longitudinal axis so as to face the holder 400.The tilt motor 1004 may then move (or caused to be moved) the cassettebase 702 on which the cassette 726 rests into an appropriateorientation, such as flat, level, or parallel to the gripper 500, forlater insertion and removal of the at least one substrate 1002. The atleast one substrate 1002 is then brought proximal to the holder 400,such that the secure bar 406 of the holder 400 is on the second side ofthe at least one substrate 1002 and the first arm 404 of the holder 400is on the first side of the at least one substrate 1002. To bring the atleast one substrate 1002 proximal to the at least one substrate 1002,the gripper 500 may be moved along the gripper horizontal track 1012 bythe gripper horizontal motor 1010 and/or along the vertical track 1008by the vertical motor 1006. The vertical motor 1006 drives the gripperalong the vertical track 1008 to move the gripper 500 to an appropriateheight for the desired slot of the cassette 726. The gripper horizontalmotor 1010 drives the gripper 500 along the gripper horizontal track1012 to move the gripper 500 proximal to the at least one substrate1002. The holder 400 may also be moved along a holder horizontal track1016 by a holder horizontal motor 1018 to bring the holder 400 moreproximal to the gripper 500. The holder 400 and the gripper 500 may bothbe driven along the respective horizontal tracks 1016, 1012 by therespective horizontal motors 1018, 1010 to be more proximal to oneanother.

To unstick a stuck substrate from the cassette 726, the gripper 500 maybe moved in a direction opposing the closing motion of the secure bar506. Alternatively, the gripper 500 may be oscillated, vibrated, ormoved along the z axis once the substrate is gripped by the gripper 500.The substrate may stick due the substrate being wet. The substrate maybe coated with Teflon to reduce or eliminate sticking.

The secure bar 506 of the gripper 500 is then driven into an openposition by the first motor 522, such that the at least one substrate1002 rests on the base platform 408 and the first platform 410. Thesecure bar 406 of the holder 400 is then moved into the closed positioncausing the third securing block 420 to force the at least one substrate1002 against the first and second securing blocks 412, 414. The ramps306 of the respective securing blocks lift the at least one substrate1002 up and off of the base and first platforms 408, 410 and confine theat least one substrate 1002 against the stoppers 304. The gripper 500then moves closer to the holder 400 along the gripper horizontal track1012 such that the crossbar 518 exerts a force on the at least onesubstrate 1002 to push the at least one substrate 1002 further into theholder 400. The crossbar 518 may contact the sensor 520 or may deflectup to a pre-determined distance towards the sensor 520 based on theapplied force. When the sensor 520 is not activated, an error may haveoccurred (such as a misalignment, a misplacement, a substrate not seatedproperly, or the like) and an operator may be notified or the automationmay be performed again to correct the error. Once the at least onesubstrate 1002 is secured within the holder 400, the holder 400 maytranslate along the holder horizontal track 1016 away from the gripper500 for further processing and/or imaging within the secondary device(not shown).

The process denoted above may be reversed to return the at least onesubstrate 1002 to the cassette 726. The process denoted above may alsobe performed more than once to process and/or image any number ofsubstrates 1004 within the cassette 726 and within any additionalcassette 726 s which may be present at the time or inserted over thecourse of time.

The system 1000 may also include at least one controller (not shown) forcontrolling the movement of the holder 400, the gripper 500, thecassette base 702, and any movement along a horizontal and/or verticaltrack 1008, 1012, 1016. Alternatively, each component or movement may becontrolled by individual controllers (not shown). Alternatively, aplurality of components may be controlled by a single controller (notshown) and another plurality of components may be controlled by anothercontroller (not shown). Alternatively, any appropriate combination ofcontrollers (not shown) controlling components may be used, where it isappropriate and desirous to do so.

The foregoing description, for purposes of explanation, used specificnomenclature to provide a thorough understanding of the disclosure.However, it will be apparent to one skilled in the art that the specificdetails are not required in order to practice the systems and methodsdescribed herein. The foregoing descriptions of specific embodiments arepresented by way of examples for purposes of illustration anddescription. They are not intended to be exhaustive of or to limit thisdisclosure to the precise forms described. Many modifications andvariations are possible in view of the above teachings. The embodimentsare shown and described in order to best explain the principles of thisdisclosure and practical applications, to thereby enable others skilledin the art to best utilize this disclosure and various embodiments withvarious modifications as are suited to the particular use contemplated.It is intended that the scope of this disclosure be defined by thefollowing claims and their equivalents:

I/We claim:
 1. A system comprising: a first cassette comprising a firstside, a second side, and at least one slot extending from the first sideto the second side; at least one first light source proximal to thefirst side of the first cassette; and at least one first detectorproximal to the second side of the first cassette, wherein the at leastone first light source proximal to the first side of the first cassetteand the at least one first detector proximal to the second side of thefirst cassette face each other.
 2. The system of claim 1, furthercomprising a first light board proximal to the first side of the firstcassette and a first detector board proximal to the second side of thefirst cassette, wherein the first light board comprises the at least onefirst light source and the first detector board comprises the at leastone first detector.
 3. The system of claim 2, further comprising acontrol board, wherein the first light board and the first detectorboard extend from the control board.
 4. The system of claim 3, the firstlight board and the first detector board each comprising an electricalinterface and the control board comprising a first complementaryelectrical interface and a second complementary electrical interface,wherein the electrical interface of the first light board mates with thefirst complementary electrical interface and the electrical interface ofthe first detector board mates with the second complementary electricalinterface.
 5. The system of claim 4, further comprising a base adjoinedto or overlaid on the control board.
 6. The system of claim 5, furthercomprising a bracket, wherein the first light board and the firstdetector board are adjoined to the bracket at ends opposite therespective electrical interfaces of the first light board and the firstdetector board.
 7. The system of claim 1, further comprising: a secondcassette comprising a first side, a second side, and at least one slotextending from the first side to the second side; at least one secondlight source proximal to the first side of the second cassette; and atleast one second detector proximal to the second side of the secondcassette, wherein the at least one second light source proximal to thefirst side of the second cassette and the at least one second detectorproximal to the second side of the second cassette face each other,wherein the first side of the second cassette is proximal to the secondside of the first cassette, and wherein the at least one first detectorproximal to the second side of the first cassette and the at least onesecond light source proximal to the first side of the second cassetteface away from each other.
 8. The system of claim 7, further comprisinga first light board proximal to the first side of the first cassette, afirst detector board proximal to the second side of the first cassette,a second light board proximal to the first side of the second cassette,and a second detector board proximal to the second side of the secondcassette, wherein the first light board comprises the at least one firstlight source and the first detector board comprises the at least onefirst detector, and wherein the second light board comprises the atleast one second light source and the second detector board comprisesthe at least one second detector.
 9. The system of claim 8, furthercomprising a control board, wherein the first and second light boardsand the first and second detector boards extend from the control board.10. The system of claim 9, the first light board, the first detectorboard, the second light board, and the second detector board allcomprising an electrical interface and the control board comprisingcomplementary electrical interfaces, wherein the electrical interfacesof the first light board, the first detector board, the second lightboard, and the second detector board mate with the complementaryelectrical interfaces of the control board.
 11. The system of claim 10,further comprising a base adjoined to or overlaid on the control board.12. The system of claim 10, further comprising a bracket, wherein thefirst light board, the first detector board, the second light board, andthe second detector board are adjoined to the bracket at ends oppositethe respective electrical interfaces of the first light board, the firstdetector board, the second light board, and the second detector board.13. The system of claim 10, further comprising a bracket comprising afirst arm, wherein the first light board and the second detector boardare adjoined to the bracket at ends opposite the respective electricalinterfaces of the first light board and the second detector board, andwherein the second light board and the first detector board are adjoinedto the first arm at ends opposite the respective electrical interfacesof the second light board and the first detector board.
 14. The systemof claim 10, further comprising a bracket comprising a first armcomprising an extension, wherein the first light board and the seconddetector board are adjoined to the bracket at ends opposite therespective electrical interfaces of the first light board and the seconddetector board, and wherein the second light board and the firstdetector board are adjoined to the extension at ends opposite therespective electrical interfaces of the second light board and the firstdetector board.
 15. A method comprising the steps of: inserting a firstcassette comprising a first side, a second side, and at least one slotextending from the first side to the second side into a systemcomprising at least one first light source; and at least one firstdetector, wherein the at least one first light source is proximal to thefirst side of the first cassette and the at least one first detector isproximal to the second side of the first cassette, and wherein the atleast one first light source and the at least one first detector faceeach other; loading at least one substrate into the at least one slot ofthe first cassette; exposing the at least one substrate to light emittedfrom the at least one light source; and detecting light emitted by theat least one source by the at least one detector.
 16. The method ofclaim 15, wherein the at least one substrate transmits the light fromthe at least one light source to the at least one detector by internalreflection.
 17. The method of claim 15, further comprising the steps ofgenerating data that represents the orientation of the at least onesubstrate within the cassette based on the detected light; anddetermining the orientation of the substrate based on the generateddata.
 18. The method of claim 17, wherein the generated data comprisesat least two of the position of the at least one light source from whichthe light is emitted, the position of the at least one detector at whichthe light is detected, and the signal provided by the detector based onthe amount of light detected having been transmitted by the at least onesubstrate.
 19. The method of claim 15, wherein the at least one lightsource and the at least one detector are at the same height.
 20. Themethod of claim 15, wherein the at least one light source and the atleast one detector are at different heights.
 21. The method of claim 16,wherein the substrate is a rectangle comprising two shorts edges and twolong edges.
 22. The method of claim 21, wherein the light is transmittedfrom one long edge to the other long edge.